Kuyt converted a 40th minute penalty to open the scoring after Jonathan Bornstein fouled Wesley Sneijder who was set up by Arjen Robben.
The Dutch dominated most of the match but some sloppy passing up front meant they had to wait until a deflected shot from Huntelaar on 73 minutes doubled their lead.
"Both wingers did what we wanted but when you reach the backline the pass has to be good," Van Marwijk told reporters.
"Despite the opening phase when they disturbed our build up we had some good phases in the match, but against tough opponents like this you have to be patient. Matches like these we can expect at the World Cup."
The visitors, who had their first attempt on goal in the final 10 minutes, went close to an unexpected equaliser after Bocanegra's header but a free kick by Beasley was saved by Maarten Stekelenburg in injury time.
"This was a good test for us and overall we played well," US-coach Bob Bradley told reporters.
"Our collective effort was pretty solid but we could have been a bit sharper and quicker so that is the area we have to improve.
"Giving away the penalty was a matter of losing concentration and was badly timed," he added.
